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    "# 01 开始学习\n",
    "\n",
    "如果你对使用Drake这一新的机器人软件进行仿真感到兴奋。\n",
    "如果你想要对机器人运动学和动力学进行求解。\n",
    "如果你听说波士顿动力公司使用二次规划实现了四足机器人的后空翻后想要研究运动规划。\n",
    "\n",
    "。。。\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 安装Drake\n",
    "\n",
    "尽管Drake提供了二进制包和对应的python绑定，但是我还是建议用户从C++源代码编译Drake并安装。\n",
    "\n",
    "【给出了对应的安装链接】\n"
   ]
  },
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    "## 尝试运行下面的仿真\n",
    "\n",
    "### 仿真一个在斜面上下落的球\n",
    "\n",
    "【根据说明文件，在drake源代码中，使用bazel进行编译和运行】\n",
    "\n",
    "### 显示KUKA机械臂\n",
    "\n",
    "按下面的操作可以对KUKA机械进行显示和拖动\n",
    "\n",
    "```\n",
    "cd drake\n",
    "bazel build //tools:drake_visualizer //manipulation/util:geometry_inspector\n",
    "# Terminal 1\n",
    "./bazel-bin/tools/drake_visualizer\n",
    "# Terminal 2\n",
    "./bazel-bin/manipulation/util/geometry_inspector \\\n",
    "    ./manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf\n",
    "```\n",
    "\n",
    "### 探索更多的例子\n",
    "\n",
    "顺利的话，用户已经了解如何显示和运行一个仿真了。\n",
    "现在可以查看drake/examples下更多的例子。\n"
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